PURPOSE: To provide the robot controller which enables operation to be performed even when sensor information includes an error.
CONSTITUTION: The robot controller is composed of a sensor process part 2 which outputs position information on a target point on the basis of detection information of a visual sensor, a route generation part 3 which generates a motion route from a current tool tip position to a next target point on the basis of the position information on the target point and outputs the route information, a state monitor part 4 which judges whether or not the distance between the current tool tip position and next target point position exceeds a predetermined threshold value and indicates an error when the threshold value is exceeded, and a motion control part 5 which generates input information to a manipulator on the basis of the route data when there is no error indication, but corrects the route information when there is the error indication and generates the input information to the manipulator on the basis of the route data. Thus, even if the sensor information includes the error, wrong operation of the manipulator is evaded and the reliability and safety of the operation can be increased.
MITSUYA EIJI
NANJO YOSHITO
MIZUKAWA MAKOTO
ARAKAWA KENICHI
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